If you reimplemented BotController::update() make sure that it is overriden as BotController::update( smReal ). Overriding as BotController::update( float ) used to work when smReal was single precision but this code will break with the new version.

Load factor of a vehicle must be obtained using VehicleBase::getLoadFactor(). The previous method, myVehicle.getState().getLoadFactor() , is not supported anymore.

RotorLib FDM

Signatures of GenHeli600::findMaxClimbRateFtMin(), GenHeli600::findMaxSpeedKts and GenHeli600::trim() methods changed. They have a new argument, timeStepSize, now.

RotorLib FDM for Matlab

RotorLib FDM for Matlab is extended with the ability to add slung and fixed loads to the helicopter. As a consequence, following has changed in the interface

Added rlAttachFixedLoad and rlAttachSlungLoad functions.

The flight dynamics model simulation variables are acessed with a new prefix, FDM, now. E.g. previously the position of a helicopter was queried with rlGetSimVar( heliId, ‘position’). Now rlGetSimVar( heliId, ‘FDM/position’) must be used.

The state and output structs (as obtained with rlGetHeliBasicState() ) have a new sub-struct called FDM now. This substruct contains the fields that were contained by the state and output structs previously. E.g. previously x.position was used to store position. Now this is be done with x.FDM.position.

v4.1.Beta1 to v4.1.Beta2 Changes

FixedWingLib CGF

Renamed Limits section as StabilityAugmentation, AoA as AoALimiter, Load as LoadLimiter and added following new parameters to aoa and sideslip limiters: loadLimiterActivationSpeedLowKIAS, loadLimiterActivationSpeedHighKIAS, AoALimiterActivationSpeedLowKIAS, AoALimiterActivationSpeedHighKIAS

Added MaxPitchAcceleration curve which can be used to limit pitch acceleration depending on speed

It is not allowed to set a rate limit for rudder anymore because it is observed that low rate limits could lead hard-to-debug problems.

VelocityController’s m_desiredVelocity parameter is a vector in East-North-Up coordinates now.

Military Features of FixedWingLib CGF (e.g. VTOL, terrain following flight) are moved to new classes. MilitaryAirplaneDynamics and MilitaryAirplaneBot can be used to access these features now.

RotorLib CGF

Military Features of RotorLib CGF (e.g. ship deck landing) are moved to new classes. MilitaryHelicopterDynamics and MilitaryHelicopterBot can be used to access these features now.

RotorLib FDM

Military Features of RotorLib FDM (e.g. ship deck landing) are moved to new classes. MilitaryGenHeli600 and MilitaryGenHeli500 can be used to access these features now.

v4.1.Beta3 to v4.1.Beta4 Changes

No API changes occured.

v4.1.Beta4 to v4.1.Beta5 Changes

FixedWingLib CGF

Some controller parameters related to positions are renamed and their definition is changed. Following parameters are in nautical miles and WCS in flat earth mode and contains latitude and longitude in WGS84 ECEF mode.

TakeoffController, m_runwayEnd. This parameter was an smVec3r previously.

m_desiredVelocity parameter of the VTOLVelocityController is in ENU now.

m_desiredDirection parameter of BasicTaxiController describes a heading in ENU now.

RotorLib CGF

m_desiredAttitude parameter of the AttitudeController is in ENU now. As a result hpr argument of attitudeHold method is also in ENU.

m_forceToApply parameter of the ForceController is in ENU now.

m_desiredVelocity of the VelocityController is in ENU now. Also, “velocity” arguments of velocityHoldCT and velocityHoldCH are changed the same way.

position parameter of the FollowRouteController and m_desiredPosition parameter of PositionController have a dual definition now. These are in nautical miles and WCS in flat earth mode and contains latitude and longitude in WGS84 ECEF mode. “position” arguments of moveToCT, moveThroughCT , moveToCH methods are similarly changed.

RotorLibFDM

GenHeli600 does not pass rotor brake pilot input to rotors automatically anymore. Rotor brake control must be explicitely modelled in the control system (XML configuration).

v4.1.Beta5 to v4.1.Beta6 Changes

FixedWingLib CGF

m_runwayEnd parameter of the TakeOff Controller is in nautical miles in FLAT_EARTH mode now. The parameter was documented this way but it was in meters due to a bug.

RotorLibFDM

GenericTurbineEngine is improved to provide more realistic sppol-up times during start-up. This may result in changed behavior in existing applications that use this engine model.

v4.1.Beta6 to v4.1.Beta7 Changes

Common

Changes in EntityBase::saveState(), EntityBase::loadState() , BotBase::loadState() , BotBase::saveState() so that users have more control on saved file naming.

FixedWingLib CGF

Changes in the parameter names in the controllers that are listed below. Please refer to the documentation or the headers files:

BankLeftRightController

BasicFlightController

BasicLowLevelController

FollowRouteController

LandingController

LoiterController

PositionController

TakeoffController

RaceTrackController

VelocityController

Removed Weave maneuver

Change in XML configuration format of the LandingController: maxRollRate renamed as desiredRollRate

RotorLibCGF

Some controller parameters related to positions are renamed and their definition is changed. Following parameters are in nautical miles and WCS in flat earth mode and contains latitude and longitude in WGS84 ECEF mode.

Non-const getValue() methods are removed from all Simulation Variable classes. This is replaced by getChangableValue()

FCSComponent tag is not supported anymore in XML files; only CSComponent can be used.

ModelComponentBase::getType() method is removed. This method was a pure virtual method which must have been overriden in derived classes. Using RTD_BASE_COMMON is sufficient now. getClassName() can be used instead of getType().

Constructor signature of GenericObject100 is changed.

It is possible to add a terrain query callback to RTD::World now. This callback will be used by all world participants unless they have their own terrain query callback. This modification does not render previouly written code invalid, however, users might find it cleaner to use this new API.

Cable Add-on

Constructor signature of Cable100 is changed

v4.1.Beta10 to v4.1.Beta11 Changes

Common

TrimCallback is moved to VehicleBase from GenHeli600 class.

v4.1.Beta11 to v4.1.Beta12 Changes

FixedWingLibCGF

CML add-on related headers are moved to Include\FixedWingLibCGF\CML

FollowEntityController.h moved to Include\FixedWingLibCGF\Formation

MilitaryAirplaneBot.h and MilitaryAirplaneDynamics.h are moved to Include\FixedWingLibCGF\MilitaryCommon

RotorLibCGF

FollowEntityController.h moved to Include\RotorLibCGF\Formation

MilitaryHelicopterBot.h and MilitaryHelicopterDynamics.h moved to Include\RotorLibCGF\MilitaryCommon